Kinect V1 vs Kinect V2 plugins in Gazebo

asked 2018-05-01 13:56:41 -0500

aadityacr7 gravatar image


I am Aaditya Saraiya and as a starting point to my GSoC 2018 project, I wish to simulate a Kinect sensor in Gazebo. I followed the Gazebo tutorial to simulate a Kinect sensor which uses the OpenNI driver.

As a follow up to that, I wanted to ask if there is any fundamental difference between a Gazebo Plugin for a Kinect V1 and Kinect V2 sensor. I read a ROS Answers post which states that Gazebo treats Kinect V1 and Kinect V2 as similar RGB-D devices. The code below shows the camera plugin for Kinect V1 which has been taken from the Gazebo tutorial. How will the plugin change in order to simulate a Kinect V2 sensor? Is the difference only in the distortion coefficients and the .so file used?

Thanks in advance!

     <plugin name="camera_plugin" filename="">
      <!-- Keep this zero, update_rate in the parent <sensor> tag
        will control the frame rate. -->
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